✨ Update G34 for 4x Z steppers (#22039)
This commit is contained in:
Scott Lahteine
GitHub
parent
9d3bc551bc
commit
53a82511ff
|
|
@ -48,6 +48,13 @@
|
|||
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
#include "../../core/debug_out.h"
|
||||
|
||||
#if NUM_Z_STEPPER_DRIVERS >= 3
|
||||
#define TRIPLE_Z 1
|
||||
#if NUM_Z_STEPPER_DRIVERS >= 4
|
||||
#define QUAD_Z 1
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/**
|
||||
* G34: Z-Stepper automatic alignment
|
||||
*
|
||||
|
|
@ -82,9 +89,9 @@ void GcodeSuite::G34() {
|
|||
switch (parser.intval('Z')) {
|
||||
case 1: stepper.set_z1_lock(state); break;
|
||||
case 2: stepper.set_z2_lock(state); break;
|
||||
#if NUM_Z_STEPPER_DRIVERS >= 3
|
||||
#if TRIPLE_Z
|
||||
case 3: stepper.set_z3_lock(state); break;
|
||||
#if NUM_Z_STEPPER_DRIVERS >= 4
|
||||
#if QUAD_Z
|
||||
case 4: stepper.set_z4_lock(state); break;
|
||||
#endif
|
||||
#endif
|
||||
|
|
@ -99,13 +106,6 @@ void GcodeSuite::G34() {
|
|||
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
|
||||
do { // break out on error
|
||||
|
||||
#if NUM_Z_STEPPER_DRIVERS == 4
|
||||
SERIAL_ECHOLNPGM("Alignment for 4 steppers is Experimental!");
|
||||
#elif NUM_Z_STEPPER_DRIVERS > 4
|
||||
SERIAL_ECHOLNPGM("Alignment not supported for over 4 steppers");
|
||||
break;
|
||||
#endif
|
||||
|
||||
const int8_t z_auto_align_iterations = parser.intval('I', Z_STEPPER_ALIGN_ITERATIONS);
|
||||
if (!WITHIN(z_auto_align_iterations, 1, 30)) {
|
||||
SERIAL_ECHOLNPGM("?(I)teration out of bounds (1-30).");
|
||||
|
|
@ -157,16 +157,14 @@ void GcodeSuite::G34() {
|
|||
const xy_pos_t diff = z_stepper_align.xy[i] - z_stepper_align.xy[j];
|
||||
return HYPOT2(diff.x, diff.y);
|
||||
};
|
||||
float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * SQRT(
|
||||
#if NUM_Z_STEPPER_DRIVERS == 3
|
||||
_MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 0))
|
||||
#elif NUM_Z_STEPPER_DRIVERS == 4
|
||||
_MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 3),
|
||||
magnitude2(3, 0), magnitude2(0, 2), magnitude2(1, 3))
|
||||
#else
|
||||
magnitude2(0, 1)
|
||||
float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * SQRT(_MAX(0, magnitude2(0, 1)
|
||||
#if TRIPLE_Z
|
||||
, magnitude2(2, 1), magnitude2(2, 0)
|
||||
#if QUAD_Z
|
||||
, magnitude2(3, 2), magnitude2(3, 1), magnitude2(3, 0)
|
||||
#endif
|
||||
#endif
|
||||
);
|
||||
));
|
||||
|
||||
// Home before the alignment procedure
|
||||
if (!all_axes_trusted()) home_all_axes();
|
||||
|
|
@ -178,7 +176,7 @@ void GcodeSuite::G34() {
|
|||
// This hack is un-done at the end of G34 - either by re-homing, or by using the probed heights of the last iteration.
|
||||
|
||||
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
|
||||
float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N(NUM_Z_STEPPER_DRIVERS, 10000.0f, 10000.0f, 10000.0f, 10000.0f);
|
||||
float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N_1(NUM_Z_STEPPER_DRIVERS, 10000.0f);
|
||||
#else
|
||||
float last_z_align_level_indicator = 10000.0f;
|
||||
#endif
|
||||
|
|
@ -280,39 +278,52 @@ void GcodeSuite::G34() {
|
|||
z_measured_min = _MIN(z_measured_min, z_measured[i]);
|
||||
}
|
||||
|
||||
SERIAL_ECHOLNPAIR("CALCULATED STEPPER POSITIONS: Z1=", z_measured[0], " Z2=", z_measured[1], " Z3=", z_measured[2]);
|
||||
SERIAL_ECHOLNPAIR(
|
||||
LIST_N(DOUBLE(NUM_Z_STEPPER_DRIVERS),
|
||||
"Calculated Z1=", z_measured[0],
|
||||
" Z2=", z_measured[1],
|
||||
" Z3=", z_measured[2],
|
||||
" Z4=", z_measured[3]
|
||||
)
|
||||
);
|
||||
#endif
|
||||
|
||||
SERIAL_ECHOLNPAIR("\n"
|
||||
"DIFFERENCE Z1-Z2=", ABS(z_measured[0] - z_measured[1])
|
||||
#if NUM_Z_STEPPER_DRIVERS == 3
|
||||
, " Z2-Z3=", ABS(z_measured[1] - z_measured[2])
|
||||
"Z2-Z1=", ABS(z_measured[1] - z_measured[0])
|
||||
#if TRIPLE_Z
|
||||
, " Z3-Z2=", ABS(z_measured[2] - z_measured[1])
|
||||
, " Z3-Z1=", ABS(z_measured[2] - z_measured[0])
|
||||
#if QUAD_Z
|
||||
, " Z4-Z3=", ABS(z_measured[3] - z_measured[2])
|
||||
, " Z4-Z2=", ABS(z_measured[3] - z_measured[1])
|
||||
, " Z4-Z1=", ABS(z_measured[3] - z_measured[0])
|
||||
#endif
|
||||
#endif
|
||||
);
|
||||
|
||||
#if HAS_STATUS_MESSAGE
|
||||
char fstr1[10];
|
||||
#if NUM_Z_STEPPER_DRIVERS == 2
|
||||
char msg[6 + (6 + 5) * 1 + 1];
|
||||
#else
|
||||
char msg[6 + (6 + 5) * 3 + 1], fstr2[10], fstr3[10];
|
||||
#endif
|
||||
sprintf_P(msg,
|
||||
PSTR("Diffs Z1-Z2=%s"
|
||||
#if NUM_Z_STEPPER_DRIVERS == 3
|
||||
" Z2-Z3=%s"
|
||||
" Z3-Z1=%s"
|
||||
char msg[6 + (6 + 5) * NUM_Z_STEPPER_DRIVERS + 1]
|
||||
#if TRIPLE_Z
|
||||
, fstr2[10], fstr3[10]
|
||||
#if QUAD_Z
|
||||
, fstr4[10], fstr5[10], fstr6[10]
|
||||
#endif
|
||||
), dtostrf(ABS(z_measured[0] - z_measured[1]), 1, 3, fstr1)
|
||||
#if NUM_Z_STEPPER_DRIVERS == 3
|
||||
, dtostrf(ABS(z_measured[1] - z_measured[2]), 1, 3, fstr2)
|
||||
, dtostrf(ABS(z_measured[2] - z_measured[0]), 1, 3, fstr3)
|
||||
#endif
|
||||
;
|
||||
sprintf_P(msg,
|
||||
PSTR("1:2=%s" TERN_(TRIPLE_Z, " 3-2=%s 3-1=%s") TERN_(QUAD_Z, " 4-3=%s 4-2=%s 4-1=%s")),
|
||||
dtostrf(ABS(z_measured[1] - z_measured[0]), 1, 3, fstr1)
|
||||
OPTARG(TRIPLE_Z, dtostrf(ABS(z_measured[2] - z_measured[1]), 1, 3, fstr2))
|
||||
OPTARG(TRIPLE_Z, dtostrf(ABS(z_measured[2] - z_measured[0]), 1, 3, fstr3))
|
||||
OPTARG(QUAD_Z, dtostrf(ABS(z_measured[3] - z_measured[2]), 1, 3, fstr4))
|
||||
OPTARG(QUAD_Z, dtostrf(ABS(z_measured[3] - z_measured[1]), 1, 3, fstr5))
|
||||
OPTARG(QUAD_Z, dtostrf(ABS(z_measured[3] - z_measured[0]), 1, 3, fstr6))
|
||||
);
|
||||
ui.set_status(msg);
|
||||
#endif
|
||||
|
||||
auto decreasing_accuracy = [](const_float_t v1, const_float_t v2){
|
||||
auto decreasing_accuracy = [](const_float_t v1, const_float_t v2) {
|
||||
if (v1 < v2 * 0.7f) {
|
||||
SERIAL_ECHOLNPGM("Decreasing Accuracy Detected.");
|
||||
LCD_MESSAGEPGM(MSG_DECREASING_ACCURACY);
|
||||
|
|
@ -437,7 +448,7 @@ void GcodeSuite::G34() {
|
|||
#endif
|
||||
|
||||
}while(0);
|
||||
#endif
|
||||
#endif // Z_STEPPER_AUTO_ALIGN
|
||||
}
|
||||
|
||||
#endif // Z_MULTI_ENDSTOPS || Z_STEPPER_AUTO_ALIGN
|
||||
|
|
|
|||
Loading…
Reference in a new issue